Simultaneous localization and mapping in domestic environments

被引：14
|
作者：
Zunino, G [1 ]
Christensen, HI [1 ]
机构：
[1] Kungl Tekn Hogskolan, Ctr Automat Syst Numer Anal & Comp Sci, SE-10044 Stockholm, Sweden
来源：
MFI2001: INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS | 2001年
关键词：
D O I：
10.1109/MFI.2001.1013510
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes an accurate and robust algorithm for Simultaneous Localization and Map Building (SLAM). The objective of SLAM is to enable a mobile robot to build an internal representation (Map) of an unexplored environment while simultaneously using that map to navigate. An EKF filter approach is used to process the information acquired by the sonar sensors mounted on the robot. A method for recovering from failures of the SLAM algorithm is presented for increasing the robustness of the general EKF method. Real experiments are presented considering a Nomadic SuperScout mobile robot navigating in a domestic environment.
引用
收藏
页码：67 / 72
页数：6
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